Thesis (Master of Engineering in Mechanical Engineering)--Cape Peninsula University of Technology, 2018. / Underwater glider wings are the lifting surfaces of unmanned underwater vehicles UUVs depending on the chosen aerofoil sections. The efficiency as well as the performance of an underwater glider mostly depends on the hydrodynamic characteristics such as lift, drag, lift to drag ratio, etc of the wings. Among other factors, the geometric properties of the glider wing are also crucial to underwater glider performance. This study presents an opportunity for the numerical investigation to improve the hydrodynamic performance by incorporating curvature at the trailing edge of a wing as oppose to the standard straight or sharp trailing edge. A CAD model with straight leading edge and trailing edge was prepared with NACA 0016 using SolidWorks 2017. The operating conditions were setup such that the inlet speed varies from 0.1 to 0.5 m/s representing a Reynolds number 27.8 x 10ᵌ and 53 x 10ᵌ. The static pressure at different angles of attack (AOA) which varies from 2 to 16degrees at the increment of 2degrees for three turbulent models (K-Ԑ-standard, K-Ԑ-RNG and K-Ԑ-Realizable), was computed for upper and lower surfaces of the modified wing model using ANSYS Fluent 18.1. Thereafter the static pressure distribution, lift coefficient, drag coefficient, lift to drag ratio and pressure coefficient for both upper and lower surfaces were analysed. The findings showed that the lift and drag coefficient are influenced by the AOA and the inlet speed. If these parameters change the performance of the underwater glider changes as depicted by figure 5.6 and figure 5.7. The hydrodynamics of the underwater glider wing is optimized using the Cʟ/Cᴅ ratio as function of the operating conditions (AOA and the inlet speed). The investigation showed that the optimal design point of the AOA of 12 degrees and a corresponding inlet speed of 0.26m/s. The critical AOA matched with the optimal design point AOA of 12 degrees. It was also observed that Cp varies across the wing span. The results showed the Cp is higher closer to the fuselage while decreasing towards the mid-span and at the tip of the wing. This showed that the wing experiences more stress close to the fuselage than the rest of the wing span which implies that a higher structural rigidity is required close to the fuselage. The results of the drag and lift curves correspond to the wing characteristics typical observed for this type of aerofoil.

Apesar da propulsão na natação não ser ainda completamente compreendida, as forças propulsivas efetivas podem ser verificadas, por exemplo, por meio do modelo de Sanders ou pelo teste de nado atado. Esse modelo vem sendo aplicado, embora sem ter sido avaliado de forma aprofundada. Assim, o objetivo geral do presente trabalho foi comparar as forças propulsivas efetivas calculadas com o modelo de Sanders e medidas ao longo de um teste de nado atado. Os objetivos específicos foram: revisar os efeitos das condições instáveis na propulsão na natação a partir de estudos que compararam as condições estáveis e instáveis; comparar a força propulsiva efetiva obtida usando duas áreas, a área projetada da mão e a área da superfície da palma da mão; e comparar a frequência de ciclos, a velocidade, a aceleração, o ângulo de ataque e a amplitude de movimento de ambas as mãos entre as condições atada e livre. Para cada objetivo, geral e específico, foi desenvolvido um estudo. Desse modo, o primeiro compreendeu a revisão sistemática, em que uma busca em bases de dados foi realizada, e somente aqueles que atingissem todos os critérios de elegibilidade foram incluídos. Seis trabalhos que compararam condições estáveis e instáveis usando experimentos físicos ou simulações numéricas foram selecionados. Estes verificaram os efeitos nas forças propulsivas de um ou mais fatores que caracterizam uma condição como instável. Logo, mais pesquisas são necessárias para entender o efeito de cada fator, assim como os efeitos da combinação dos fatores na propulsão. Para o segundo estudo, 13 nadadores executaram um teste de esforço máximo de 30 segundos realizando palmateio, enquanto atados à parede da piscina. A partir dos dados cinemáticos obtidos pela técnica de videogrametria, a força propulsiva efetiva foi estimada com o modelo de Sanders utilizando duas áreas de referência: a área projetada da mão e a área da superfície da palma da mão. A força estimada usando a área da superfície da palma da mão foi aproximadamente 21% maior do que a força estimada usando a área projetada. Considerando esse resultado, associado à literatura, recomenda-se usar a área da superfície da palma da mão no cálculo das forças. No terceiro estudo, a amostra e o teste foram os mesmos do anterior, porém a força propulsiva efetiva, além de ser calculada com o modelo de Sanders usando a área da superfície da palma da mão, também foi medida utilizando uma célula de carga ao longo do teste. Os resultados indicaram que o modelo de Sanders não é adequado para estimar as forças propulsivas, uma vez que a força medida foi 807,7% maior do que a força calculada. Para o último estudo, a amostra foi composta por oito nadadores que executaram o mesmo teste já descrito e um teste de esforço máximo de 25 metros realizando palmateio. Foi notado que há diferenças importantes na velocidade da mão e na amplitude de movimento da mão na direção lateral entre as condições atada e livre e que a condição atada intensifica as assimetrias cinemáticas. / Despite swimming propulsion is still not completely understood, the effective propulsive forces may be verified, for instance, through Sanders’ model or through tethered swimming. This model has been applied, although without being evaluated deeply. Thus the main purpose of the present work was to compare the effective propulsive force calculated with Sanders’ model with the effective propulsive force measured during tethered swimming. The other purposes were: to review the effects of unsteady conditions on swimming propulsion based on studies that have compared steady and unsteady conditions; to compare the effective propulsive force obtained using two areas: the palmar surface area of the hand and the projected area of the hand; and compare the cycle rate, speed, acceleration, attack angle and range of motion of both hands between tethered and free conditions. For each purpose was developed one study. Therefore, the first one was a systematic review, in which a multiple database search was performed, and only those studies that met all eligibility criteria were included. Six studies that compared steady and unsteady conditions using physical experiments or numerical simulations were selected. These works verified the effects of one or more factors that characterise a condition as unsteady on the propulsive forces. Thus much research is necessary to understand the effect of each individual factor, as well as the effects of the combination of factors on swimming propulsion. For the second study, 13 swimmers performed one all-out 30-second sculling motion trial while the participant was tethered. Based on the kinematic data obtained through videography technique, the effective propulsive force was estimated with Sanders’ model using two reference areas: the palmar surface area of the hand and the projected area of the hand. The estimated force with the palmar surface area of the hand was approximately 21% higher than that one estimated with the projected area. According to this result and based on the literature, it is recommended to use the palmar surface area of the hand when calculating the forces. In the third study, the sample and the test were the same of the previous study, but the effective propulsive force, besides being calculated with Sanders’ model using the palmar surface area of the hand, was measured with a load cell during the test. The results indicate that Sanders’ model is not suitable for estimating propulsive forces, because the measured force was 807.7% higher than the calculated force. For the last study, the sample consisted of eight swimmers, who performed the same test described previously and one all-out 25-meter sculling motion trial. Important differences were found in hand’s speed and range of motion in the lateral direction between tethered and free conditions and that the tethered condition intensifies kinematic asymmetries.

Made available in DSpace on 2014-06-11T19:28:33Z (GMT). No. of bitstreams: 0 Previous issue date: 2011-08-22Bitstream added on 2014-06-13T20:58:28Z : No. of bitstreams: 1 melo_hht_me_guara.pdf: 1759227 bytes, checksum: 3dfd437259b41c05e4944f9e56da28d5 (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / A utilização de imagens digitais para extrair informações de objetos tem sido uma solução amplamente empregada em pesquisas científicas e em processos industriais. A contínua redução nos preços de equipamentos, a facilidade do uso de softwares e a simples integração com recursos de informática tem feito que muitos processos migrem para esta solução mais ágil, confiável e econômica. A indústria aeroespacial, que possui uma cadeia de produção não contínua e exige a avaliação de todos os seus componentes para obtenção de um nível de confiança elevado, encontra no emprego do processamento digital de imagens uma solução versátil e eficaz para análise das características de cada componente. Neste trabalho é apresentado um programa, desenvolvido em LabVIEW™, para medição dos sprays cônicos de jatos de injetores de motor foguete utilizando um sistema de processamento digital de imagens para sua análise. São apresentadas também as metodologias até então utilizadas para efetuar este tipo de medida. Os sprays dos jatos são desenvolvidos na saída do injetor, são exibidos visualmente durante o teste hidráulico a frio e tem influência direta no desempenho do motor foguete. A utilização desta nova ferramenta permitiu a realização desta medida de forma automática, com o fornecimento da incerteza de medição em níveis de confiança pré-estabelecido e mostrou-se ser mais exata e precisa que as metodologias anteriores / The usage of digital images to extract information from objects has been a solution widely used in scientific research and in industrial processes. The continued reduction in prices of equipment, the facility of software manipulation and the simple integration with computing resources has done many processes to migrate to this more flexible, reliable and economical solution. The aerospace industry, which has a chain of production that is not continuous and requires the evaluation of all its components to obtain a high confidence level, finds in the usage of digital image processing a versatile and effective solution for analysis of the characteristics of each component . This paper presents a program developed in LabVIEW™, to measure the rocket engine conic spray jet by using a digital image processing system for analysis. It is also presented the methodologies previously used to perform this type of measurement. The jet sprays are developed at the exit of the injector, are displayed visually during the cold hydraulic test and it has directly influences on the performance of the rocket engines. The usage of this new tool allowed us to make the measurement automatically with the supply of uncertainty together with a pre-established confidence level and it proved to be more accurate and precise than previous methodologies

Apesar da propulsão na natação não ser ainda completamente compreendida, as forças propulsivas efetivas podem ser verificadas, por exemplo, por meio do modelo de Sanders ou pelo teste de nado atado. Esse modelo vem sendo aplicado, embora sem ter sido avaliado de forma aprofundada. Assim, o objetivo geral do presente trabalho foi comparar as forças propulsivas efetivas calculadas com o modelo de Sanders e medidas ao longo de um teste de nado atado. Os objetivos específicos foram: revisar os efeitos das condições instáveis na propulsão na natação a partir de estudos que compararam as condições estáveis e instáveis; comparar a força propulsiva efetiva obtida usando duas áreas, a área projetada da mão e a área da superfície da palma da mão; e comparar a frequência de ciclos, a velocidade, a aceleração, o ângulo de ataque e a amplitude de movimento de ambas as mãos entre as condições atada e livre. Para cada objetivo, geral e específico, foi desenvolvido um estudo. Desse modo, o primeiro compreendeu a revisão sistemática, em que uma busca em bases de dados foi realizada, e somente aqueles que atingissem todos os critérios de elegibilidade foram incluídos. Seis trabalhos que compararam condições estáveis e instáveis usando experimentos físicos ou simulações numéricas foram selecionados. Estes verificaram os efeitos nas forças propulsivas de um ou mais fatores que caracterizam uma condição como instável. Logo, mais pesquisas são necessárias para entender o efeito de cada fator, assim como os efeitos da combinação dos fatores na propulsão. Para o segundo estudo, 13 nadadores executaram um teste de esforço máximo de 30 segundos realizando palmateio, enquanto atados à parede da piscina. A partir dos dados cinemáticos obtidos pela técnica de videogrametria, a força propulsiva efetiva foi estimada com o modelo de Sanders utilizando duas áreas de referência: a área projetada da mão e a área da superfície da palma da mão. A força estimada usando a área da superfície da palma da mão foi aproximadamente 21% maior do que a força estimada usando a área projetada. Considerando esse resultado, associado à literatura, recomenda-se usar a área da superfície da palma da mão no cálculo das forças. No terceiro estudo, a amostra e o teste foram os mesmos do anterior, porém a força propulsiva efetiva, além de ser calculada com o modelo de Sanders usando a área da superfície da palma da mão, também foi medida utilizando uma célula de carga ao longo do teste. Os resultados indicaram que o modelo de Sanders não é adequado para estimar as forças propulsivas, uma vez que a força medida foi 807,7% maior do que a força calculada. Para o último estudo, a amostra foi composta por oito nadadores que executaram o mesmo teste já descrito e um teste de esforço máximo de 25 metros realizando palmateio. Foi notado que há diferenças importantes na velocidade da mão e na amplitude de movimento da mão na direção lateral entre as condições atada e livre e que a condição atada intensifica as assimetrias cinemáticas. / Despite swimming propulsion is still not completely understood, the effective propulsive forces may be verified, for instance, through Sanders’ model or through tethered swimming. This model has been applied, although without being evaluated deeply. Thus the main purpose of the present work was to compare the effective propulsive force calculated with Sanders’ model with the effective propulsive force measured during tethered swimming. The other purposes were: to review the effects of unsteady conditions on swimming propulsion based on studies that have compared steady and unsteady conditions; to compare the effective propulsive force obtained using two areas: the palmar surface area of the hand and the projected area of the hand; and compare the cycle rate, speed, acceleration, attack angle and range of motion of both hands between tethered and free conditions. For each purpose was developed one study. Therefore, the first one was a systematic review, in which a multiple database search was performed, and only those studies that met all eligibility criteria were included. Six studies that compared steady and unsteady conditions using physical experiments or numerical simulations were selected. These works verified the effects of one or more factors that characterise a condition as unsteady on the propulsive forces. Thus much research is necessary to understand the effect of each individual factor, as well as the effects of the combination of factors on swimming propulsion. For the second study, 13 swimmers performed one all-out 30-second sculling motion trial while the participant was tethered. Based on the kinematic data obtained through videography technique, the effective propulsive force was estimated with Sanders’ model using two reference areas: the palmar surface area of the hand and the projected area of the hand. The estimated force with the palmar surface area of the hand was approximately 21% higher than that one estimated with the projected area. According to this result and based on the literature, it is recommended to use the palmar surface area of the hand when calculating the forces. In the third study, the sample and the test were the same of the previous study, but the effective propulsive force, besides being calculated with Sanders’ model using the palmar surface area of the hand, was measured with a load cell during the test. The results indicate that Sanders’ model is not suitable for estimating propulsive forces, because the measured force was 807.7% higher than the calculated force. For the last study, the sample consisted of eight swimmers, who performed the same test described previously and one all-out 25-meter sculling motion trial. Important differences were found in hand’s speed and range of motion in the lateral direction between tethered and free conditions and that the tethered condition intensifies kinematic asymmetries.

This thesis project has been carried out at Linköpings universitet at the Department of Mechanical Engineering. The emphasis of the project lies in the exploration of automatic selection of components for a propulsion kit. Specifically for this project, propulsion based on electric power and meeting the requirements for use in a Micro Aerial Vehicle (MAV). The key features include a systematic selection method based on user criterias and a model for evaluating propeller performance. These are implemented in a program written as a part of the project. The conclusion is that it is possible to make a program capable of a component selection and that the programs usability is mainly reliant on three factors: model for propeller evaluation, method of selection and the quality of the component database.

Neste trabalho é pesquisada a aplicação de um controlador adaptativo auto-ajustável multivariável à instalação propulsora de um navio com motor Diesel e hélice de passo variável. Os sistemas convencionais de controle de propulsão marítima são projetados deterministicamente e, geralmente, baseados na condição nominal de operação da embarcação, definida pelo seu deslocamento de projeto, estado de mar e de casco. Entretanto, o navio raramente opera na sua condição nominal, já que o seu deslocamento não é sempre o mesmo e continuamente ocorrem variações no estado do casco e do mar. Adicionalmente deve-se mencionar o efeito de perturbações estocásticas como vento, ondas e corrente que atuam sobre o navio. Estas considerações sugerem que o controlador de uma instalação propulsora deva ser adaptativo, isto é , que os seus ganhos se ajustem às alterações que ocorrem no sistema ou no meio ambiente. A teoria do controlador adaptativo auto-ajustável empregada neste trabalho é desenvolvida para sistemas multivariáveis lineares estocásticos, descritos por uma equação vetorial de diferenças com coeficientes desconhecidos. A lei de controle é obtida a partir da minimização de um índice de desempenho onde são ponderados os vetores de saída, de referência e de controle. A aplicação do controlador auto-ajustável exige a estimação de parâmetros do modelo. Neste trabalho é utilizado o modo implícito, que estima diretamente os parâmetros do controlador, através do método dos mínimos quadrados recursivo. Para adequar a aplicação da teoria a um sistema não linear, que é o caso da instalação propulsora, é introduzido no algorítimo de estimação de parâmetros um fator de esquecimento variável para alterar a velocidade de convergência dos parâmetros.O desempenho do controlador auto-ajustável é verificado através de uma série de testes de simulação, envolvendo manobras de regulação e de traqueamento. Com estes testes é analisada também a influência da matriz do ruído, do tempo de processamento do controlador, da matriz de ponderação do vetor de controle, da condição inicial da matriz de parâmetros, do intervalo de amostragem e da condição de operação do sistema sobre o desempenho do controlador. Os resultados de cada manobra são comparados com os obtidos com um controlador convencional projetado especificamente para o navio considerado, constatando-se o bom desempenho do controlador auto-ajustável. / This work is concerned with the application of multivariable self-tuning controllers to diesel engine propulsion plant with variable pitch propeller. Conventional control systems for marine propulsion plants are designed employing deterministic criteria based on the ship\'s operating condition, which is defined by the design displacement, sea state and hull roughness. However, only seldom if ever will the ship find itself operating in such nominal condition since her displacement is not always the same and the sea state and hull roughness vary continuously with time. In addition one should take into consideration the effect on the ship of stochastic factors such as winds, waves and sea currents. The preceding considerations suggest that the controller for a marine propulsion plant should be capable of adjusting itself to varying operating conditions. In other words, it should be capable of tuning its gains according to alterations occurring within the system or imposed by the environment. The theory of self-tuning controller employed in this work has been developed for stochastic multivariable linear systems describe by a linear vector difference equation with unknown parameters. The control law is obtained by the minimization of one performance index in which are weighted the output, reference and control vectors. The application of the self-tuning controller requires the estimation of the model parameters. In this work the implicit way is used wich directly estimates the parameters of the controller by means of the recursive minimum least-square algorithm. In order to apply the theory to non-linear systems such as propulsion plants, a variable forgetting factor is introduced in the estimation algorithm to change the convergence speed of the parameters. The performance of the self-tuning controller is assessed by means of several simulations tests involving regulating and tracking maneuvers.The tests also assess the influence on the controller performance of such factors as the noise matrix, controller process time, initial condition of parameters matrix, sampling time and operating condition of the system. The results of each maneuver are compared with those obtained by a conventional controller specifically designed for the ship under consideration and it was verified that the self-tuning controller has a good performance.

Apesar da propulsão na natação não ser ainda completamente compreendida, as forças propulsivas efetivas podem ser verificadas, por exemplo, por meio do modelo de Sanders ou pelo teste de nado atado. Esse modelo vem sendo aplicado, embora sem ter sido avaliado de forma aprofundada. Assim, o objetivo geral do presente trabalho foi comparar as forças propulsivas efetivas calculadas com o modelo de Sanders e medidas ao longo de um teste de nado atado. Os objetivos específicos foram: revisar os efeitos das condições instáveis na propulsão na natação a partir de estudos que compararam as condições estáveis e instáveis; comparar a força propulsiva efetiva obtida usando duas áreas, a área projetada da mão e a área da superfície da palma da mão; e comparar a frequência de ciclos, a velocidade, a aceleração, o ângulo de ataque e a amplitude de movimento de ambas as mãos entre as condições atada e livre. Para cada objetivo, geral e específico, foi desenvolvido um estudo. Desse modo, o primeiro compreendeu a revisão sistemática, em que uma busca em bases de dados foi realizada, e somente aqueles que atingissem todos os critérios de elegibilidade foram incluídos. Seis trabalhos que compararam condições estáveis e instáveis usando experimentos físicos ou simulações numéricas foram selecionados. Estes verificaram os efeitos nas forças propulsivas de um ou mais fatores que caracterizam uma condição como instável. Logo, mais pesquisas são necessárias para entender o efeito de cada fator, assim como os efeitos da combinação dos fatores na propulsão. Para o segundo estudo, 13 nadadores executaram um teste de esforço máximo de 30 segundos realizando palmateio, enquanto atados à parede da piscina. A partir dos dados cinemáticos obtidos pela técnica de videogrametria, a força propulsiva efetiva foi estimada com o modelo de Sanders utilizando duas áreas de referência: a área projetada da mão e a área da superfície da palma da mão. A força estimada usando a área da superfície da palma da mão foi aproximadamente 21% maior do que a força estimada usando a área projetada. Considerando esse resultado, associado à literatura, recomenda-se usar a área da superfície da palma da mão no cálculo das forças. No terceiro estudo, a amostra e o teste foram os mesmos do anterior, porém a força propulsiva efetiva, além de ser calculada com o modelo de Sanders usando a área da superfície da palma da mão, também foi medida utilizando uma célula de carga ao longo do teste. Os resultados indicaram que o modelo de Sanders não é adequado para estimar as forças propulsivas, uma vez que a força medida foi 807,7% maior do que a força calculada. Para o último estudo, a amostra foi composta por oito nadadores que executaram o mesmo teste já descrito e um teste de esforço máximo de 25 metros realizando palmateio. Foi notado que há diferenças importantes na velocidade da mão e na amplitude de movimento da mão na direção lateral entre as condições atada e livre e que a condição atada intensifica as assimetrias cinemáticas. / Despite swimming propulsion is still not completely understood, the effective propulsive forces may be verified, for instance, through Sanders’ model or through tethered swimming. This model has been applied, although without being evaluated deeply. Thus the main purpose of the present work was to compare the effective propulsive force calculated with Sanders’ model with the effective propulsive force measured during tethered swimming. The other purposes were: to review the effects of unsteady conditions on swimming propulsion based on studies that have compared steady and unsteady conditions; to compare the effective propulsive force obtained using two areas: the palmar surface area of the hand and the projected area of the hand; and compare the cycle rate, speed, acceleration, attack angle and range of motion of both hands between tethered and free conditions. For each purpose was developed one study. Therefore, the first one was a systematic review, in which a multiple database search was performed, and only those studies that met all eligibility criteria were included. Six studies that compared steady and unsteady conditions using physical experiments or numerical simulations were selected. These works verified the effects of one or more factors that characterise a condition as unsteady on the propulsive forces. Thus much research is necessary to understand the effect of each individual factor, as well as the effects of the combination of factors on swimming propulsion. For the second study, 13 swimmers performed one all-out 30-second sculling motion trial while the participant was tethered. Based on the kinematic data obtained through videography technique, the effective propulsive force was estimated with Sanders’ model using two reference areas: the palmar surface area of the hand and the projected area of the hand. The estimated force with the palmar surface area of the hand was approximately 21% higher than that one estimated with the projected area. According to this result and based on the literature, it is recommended to use the palmar surface area of the hand when calculating the forces. In the third study, the sample and the test were the same of the previous study, but the effective propulsive force, besides being calculated with Sanders’ model using the palmar surface area of the hand, was measured with a load cell during the test. The results indicate that Sanders’ model is not suitable for estimating propulsive forces, because the measured force was 807.7% higher than the calculated force. For the last study, the sample consisted of eight swimmers, who performed the same test described previously and one all-out 25-meter sculling motion trial. Important differences were found in hand’s speed and range of motion in the lateral direction between tethered and free conditions and that the tethered condition intensifies kinematic asymmetries.

M.Ing. (Electrical And Electronic Engineering) / In-vehicle Power Line Communication (PLC) is an emerging technology that can easily bene t the automotive industry by reducing the amount of wires (and hence cost, weight and complexity) for vehicle wire harnesses. The reduction in weight would also lead to less fuel consumption. This dissertation aims at taking the research of this technology a step towards fully understanding the vehicle's power line as a communication medium. We investigate the bit error characteristics of a readily available transceiver on the vehicle's power bus. To do so, we develop and perform bit error recording over the medium to get experimental results with the battery line under di ferent operating conditions. Using the rst set of these results, we parametrise di erent kinds of Markov models to see which one simulates the channel best. Using the preferred model, we then model the rest of the sets of results so that we can simulate the channel's bit error characteristics under these di erent conditions. Using these models, we demonstrate how these simulations can be used to evaluate the performance of di erent error detection and correction techniques. In particular, we evaluate the error detection mechanisms used in the popular in-vehicle Local Intercon- nect Network (LIN) protocol, in addition to some simple error correction techniques.

The manufacturing process for solventless extruded double base propellants involves a number of rolling and reworking stages. Throughout these processes a decrease in weight average molecular weight was observed, this was attributed to denitration. Differential scanning calorimetery data indicated that the reworking stages of extruded double base propellant manufacture were crucial to the homogenisation of the propellant mixture. To determine the homogeneity of the final extruded product, a sample was analysed across its diameter. No variations in stabiliser concentration, molecular weight, or Vickers hardness were detected. An accelerated thermal ageing trial simulating up to 8 years of ageing at 25°C was carried out to evaluate the storage characteristics. Reductions in stabiliser concentration, number average molecular weight, weight average molecular weight and polydispersity compared with un-aged samples were observed. The glass transition temperature measured using differential scanning calorimetery decreased by ~3°C. The decrease was attributed to the initial denitration reducing the energy of bond rotation and shortening the polymer chains, both factors reducing the energy required for movement. Modulus values determined from dynamic mechanical analysis temperature scanning experiments, did not detect significant variation between un-aged and aged samples. Though it was considered that variations would be likely if a more extensive ageing program was completed. In order to evaluate propellant behaviour at very high and low frequencies, time temperature superposition (TTS) and creep testing were carried out. The TTS technique superpositioned data well, allowing future investigation of high frequency propellant properties. Creep testing was considered to be an appropriate approach, though the equipment available was not optimised for such testing. This thesis is concerned with understanding how propellants are manufactured from nitrocellulose, nitroglycerine and other constituents. It is also about how the propellants decompose during long periods of time in storage, and how these changes can be measured using thermal and mechanical methods. It is about how the physical, chemical and thermal properties of the propellant composition change throughout the manufacture. This is relevant as it could be used to develop more efficient manufacturing processes, allow operators to adjust processes to tailor product properties or be used to re-design manufacturing to compensate for a different starting material. The thesis also considers how and why the properties of the product change over the course of years of storage. A specific focus on whether changes in mechanical and thermal properties occur, and if so how they can be detected. / © Cranfield University

Ionic polymer metal composites (IPMC) are a new class of smart materials that have attractive characteristics such as muscle like softness, low voltage and power consumption, and good performance in aqueous environments. Therefore, there is a significant motivation for research on design and development of IPMC based biomimetic propulsion systems for underwater vehicles. In aerospace, underwater vehicles finds application for forensic studies of spaceship wrecks, missile fragments and any airplane accidents in sea and ocean terrains. Such vehicles can also survey moons and planets that house water oceans. Among biomimetic swimming systems, fish inspired swimming has gained interest since fish like swimming provides high maneuverability, high cruising speed, noiseless propulsion and efficient stabilization compared to conventional propulsion systems. In this work, the paired pectoral fin based oscillatory propulsion using IPMC for aquatic propulsor applications is studied. Dynamic characteristics of IPMC fin are analyzed using numerical simulations and optimization is used to improve the fin design. A complex hydrodynamic function is used to describe the behavior of an active IPMC fin actuator in water. The structural model of the IPMC fin is obtained by modifying the classical dynamic equation for a slender beam to account for the electromechanical dynamics of the IPMC beam in water. A quasi-steady blade element model that accounts for unsteady phenomena such as added mass effects, dynamic stall, and the cumulative Wagner effect is used to estimate the hydrodynamic performance of the flapping fin. It is shown that the use of optimization methods can lead to significant improvement in performance of the IPMC fin. Further, three fish species with high performance flapping pectoral fin locomotion are chosen and performance analysis of each fin design is conducted to discover the better configurations for engineering applications. Dynamic characteristics of IPMC actuated flapping fins having the same size as the actual fins of three different fish species, Gomphosus varius, Scarus frenatus and Sthethojulis trilineata, are also analyzed. Finally, a comparative study is performed to analyze the performance of the three different biomimetic IPMC flapping pectoral fins.